Study On Autonomous Sailing Boat Design And Motion Control

In the21st century, along with the energy crisis and environmental pollution problems further highlighted, how to make use of green energy-wind partly replace fossil fuels as a power issue has attracted widespread attention again. Therefore, in recent years in the aspect of ship propulsion people are increasingly looking to develop green ships with intelligent sail. On this background, in this paper, the author designed and built an Autonomous Sailing Boat (ASB) for the first time in domestic based on intelligent sailing technology, and taking ASB as the research object, the author explored the unmanned sailing routing plan and motion control strategy.This paper first introduced the concept of ASB, and then used SWOT(Strengths, Weaknesses, Opportunities, Threats) to explore its application value in the aspect of marine environmental monitoring. Then this paper discussed the design and selection of benchmark ship, wing sail and so on, using Maxsurf, Javafoil and SolidWorks software for hull lines design, wing characteristics analysis and3D modeling and simulation of cabin layout, which made sure that the sailing boat experimental platform had advantages in rapidity, seakeeping, maneuverability. The author designed hardware circuit platform, and made multi-sensor collecting network including anemometer, IMU(Inertial measurement unit) attitude sensor, GPS, etc. and embedded processing platform, which provided hardware platform for programming and verifying control strategy. Next, this paper modeling sailboat steady motion by using of dynamics and kinematics equation, and obtained the ASV speed polar curve, which indicated the relationship between boat speed and wind speed and direction. Finally, according to the speed polar curve, the author designed the routing plan based on the A-Star algorithm, which achieved the goal of sail boat exploring the optimal path independently, and then designed motion control strategy algorithm based on Mamdani type fuzzy logic inference model, which realized the goal of short distance unmanned voyage.This paper carried out theoretical analysis, modeling simulation and sea trial test three aspects of the research work, and preliminary explored the sailing and manipulate rules, and achieved some results, which expected to provide reference for whom continue to study ASB. As a research precedent of unmanned sailing technology in maritime university, the author hope the experiences and lessons in this paper could offer help to subsequent graduate students who carry on researching intelligent sailing application.